The Lie algebra method with projection and Newton correction aligns vectors exactly for noiseless data and near-optimally for noisy data across classical matrix Lie groups, with formal Lean proofs.
Begović, Finding the closest normal structured matrix, Linear Algebra Appl.617(2021) 49–77
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Vector alignment in matrix Lie groups
The Lie algebra method with projection and Newton correction aligns vectors exactly for noiseless data and near-optimally for noisy data across classical matrix Lie groups, with formal Lean proofs.